CN114571506A - Attitude alignment method for industrial robot performance measurement - Google Patents
Attitude alignment method for industrial robot performance measurement Download PDFInfo
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- CN114571506A CN114571506A CN202210406473.6A CN202210406473A CN114571506A CN 114571506 A CN114571506 A CN 114571506A CN 202210406473 A CN202210406473 A CN 202210406473A CN 114571506 A CN114571506 A CN 114571506A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
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- B—PERFORMING OPERATIONS; TRANSPORTING
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- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
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Abstract
The invention discloses a posture alignment method for performance measurement of an industrial robot, which comprises an industrial series robot, a robot demonstrator, a computer, a binocular vision measurement camera structure and Q measured target balls which are arranged on a flange plate of the robot through a tool, wherein Q is more than or equal to 3; the industrial serial robot is in data connection with the robot demonstrator, and the computer is in data connection with the robot demonstrator and the binocular measuring camera respectively; the invention has the characteristics of high precision of measuring the attitude data of the tail end of the robot, simple operation and short time consumed by measuring operation.
Description
Technical Field
The invention relates to the technical field of serial industrial robots, in particular to a posture alignment method for industrial robot performance measurement, which is high in measurement accuracy, simple to operate and short in measurement time.
Background
The development level of the robot industry becomes an important mark for measuring the industrialization level of a country and a region, in recent years, the robot industry in China develops rapidly, a plurality of robot manufacturers emerge, and the produced robots are various in variety and different in function.
According to the relevant national regulation, the performance of the robot which is out of the field or used for a long time needs to be measured so as to ensure that the robot can meet the specified precision requirement. During measurement, a plurality of indexes require measuring character bars at the tail end of the robot, the traditional measurement method generally cannot measure attitude data of the tail end of the robot, and the problems of low measurement precision, manual setting of test poses, manual storage of original data, recording of original parameters, manual calculation results, filling of test reports, complex operation process, long measurement time consumption, high requirement and the like exist.
Disclosure of Invention
The invention aims to overcome the defects of low measurement precision, complex operation process and long measurement time in the posture calibration of robot performance measurement in the prior art, and provides the posture alignment method for the industrial robot performance measurement, which has the advantages of high measurement precision, simplicity in operation and short measurement time.
In order to achieve the purpose, the invention adopts the following technical scheme:
a posture alignment method for performance measurement of an industrial robot comprises an industrial series robot, a robot demonstrator, a computer, a binocular vision measurement camera structure and Q measured target balls which are arranged on a flange plate of the robot through a tool, wherein Q is more than or equal to 3; the industrial serial robot is in data connection with the robot demonstrator, and the computer is in data connection with the robot demonstrator and the binocular measuring camera respectively; the method comprises the following steps:
(1-1) the binocular vision measurement camera structure comprises two cameras with the distance larger than 1.5m, so that the visual field ranges of the two cameras cover the working space of the robot to be measured, and the cameras are calibrated, so that the 3D error of the cameras is smaller than 0.05 mm;
(1-2) selecting any n position points which are not on the same straight line in the flexible working space of the industrial serial robot by a worker through a robot demonstrator; calculating a position conversion matrix R2M from the robot coordinate system to the measurement coordinate system in the camera by using the coordinates of the n position points; wherein n is more than or equal to 5;
(1-3) the camera sequentially measures the coordinates of each target ball to be measured under the measurement coordinate system, and the computer obtains the ith target ball Pt (i) coordinates (x)i，yi，zi) I-1, 2, …, Q; the computer calculates to obtain an attitude matrix Meas of the target sphere plane under the measurement coordinate system;
(1-4) reading an attitude matrix Mr of a robot flange plate under a robot coordinate system from the robot demonstrator by the computer;
calculating an attitude matrix mt of a robot flange plate under a measurement coordinate system: mt ═ R2M × Mr;
(1-5) the computer assumes that a conversion matrix from the target sphere plane to the robot flange plane under the robot measurement coordinate system is Mb2f, and Mb2f is an inverse matrix of a conversion matrix MTrans from the robot flange plane to the target sphere plane under the measurement coordinate system;
the conversion relation from the flange plate plane of the robot to the target sphere plane under the measurement coordinate system is as follows:
meas is Mt multiplied by MTrans, and the inverse matrix of Mt is Mt;
then MTrans is mtt × Meas, MTrans is defined by the formula Mb2f-1Calculating to obtain a conversion matrix Mb2f from the plane of the target sphere to the plane of the robot flange plate under the measurement coordinate system;
the camera measures the coordinates of the target ball under the measurement coordinate system, the computer calculates the posture of the target ball plane under the measurement coordinate system by using the coordinates, and then the Mb2f is utilized to convert the posture of the target ball under the measurement coordinate system into the posture of the robot flange plane under the measurement coordinate system, so that the actual value of the robot flange posture is obtained;
the computer converts the posture of the robot flange plate read by the robot demonstrator into a camera measurement coordinate system, and a theoretical value of the posture of the robot flange plate is obtained;
and at the moment, unifying the posture of the robot flange plate and the posture obtained by calculating the coordinates under the measurement coordinate system measured by the camera to the plane of the robot flange plate under the measurement coordinate system, namely finishing the posture alignment.
And then testing the attitude accuracy, the attitude stability and the like of the robot.
Preferably, the step (1-2) comprises the steps of:
computingThe machine selects one of the target balls to be tested as a TCP point, and the camera collects n position points Pt of the TCP point Pt (1)1(1)，Pt1(2)，...,Pt1(n) coordinate data; wherein, Pt1(1) Has the coordinates of (x)1(j),y1(j),z1(j) J ═ 1,2,. ·, n; computer reading n position points M of TCP point in robot demonstrator1(1),M1(2),...,M1(n) coordinate data; wherein M is1(1) Has the coordinates of (xm)1(j),ym1(j),zm1(j))；
Is provided with
Using the formula R2M-TPt1(n)×TM1(n)-1R2M was calculated.
Preferably, the step (1-3) comprises the steps of:
(1-3-1) the computer reads the coordinate (x) of the first point of the target ball Pt (1) starting to move from the zero position in the measurement coordinate system1,y1,z1) The coordinate (x) of the first point at which the target ball Pt (2) starts to move from the zero position2,y2,z2) The coordinate (x) of the first point at which the target ball Pt (3) starts to move from the zero position3,y3,z3) Making a plane by Pt (1), Pt (2) and Pt (3), and calculating to obtain a normal vector V of the plane;
let the coordinate of Pt (4) be (x)4,y4,z4(ii) a Wherein x is4＝(x1+x2+)x3/，y4＝(y1+y2+y3)/3，z4＝(z1+z2+z3)/3；
Calculating a vector Pt2 of a projection point A1 of the Pt (2) on a plane which passes through the Pt (4) and has a normal vector V; calculating a vector Pt3 of a projection point A2 of the Pt (3) on a plane which passes through the Pt (4) and has a normal vector V;
(1-3-2) the vector PtX of a1 and Pt (1) is Pt2-Pt (1), and the modulus PtX | of PtX is:
the unit vector PtX of the vector PtX is:
let a2, Pt (vector PtY of 1 ═ Pt3-Pt (1), where the modulus PtY | of PtY is:
wherein, PtY.x is the component of PtY in the X-axis direction, PtY.y is the component of PtY in the Y-axis direction, and PtY.z is the component of PtY in the Z-axis direction;
the unit vector PtY of vector PtY is:
(1-3-3) assuming vector PtZ is equal to the cross product of PtX and PtY, the unit vector Ptz of vector PtZ is:
the attitude matrix Meas of the target sphere plane in the measurement coordinate system is composed by Ptx, Pty, Ptz:
where ptz.x is PtZ component in the X-axis direction, ptz.y is PtZ component in the Y-axis direction, ptz.z is PtZ component in the Z-axis direction, | PtZ | is PtZ modulo.
Therefore, the invention has the following beneficial effects: the method has the advantages of high precision of measuring the attitude data of the tail end of the robot, simple operation and short time consumed by measuring operation.
Drawings
FIG. 1 is a flow chart of the present invention.
Detailed Description
The invention is further described with reference to the following figures and detailed description.
The embodiment shown in fig. 1 is a posture alignment method for industrial robot performance measurement, comprising an industrial serial robot, a robot demonstrator, a computer, a binocular vision measurement camera structure and 3 measured target balls which are arranged on a robot flange plate through a tool; the industrial serial robot is in data connection with the robot demonstrator, and the computer is in data connection with the robot demonstrator and the binocular measuring camera respectively; the method comprises the following steps:
(1-1) placing binocular vision measuring cameras in a proper place around a working space of the industrial serial robot to be measured, wherein the binocular vision measuring cameras structurally comprise two cameras with the distance larger than 1.5m, so that the visual field ranges of the two cameras cover the working space of the robot to be measured, and calibrating the cameras to enable the 3D error of the cameras to be smaller than 0.05 mm;
(1-2) selecting any n position points which are not on the same straight line in the flexible working space of the industrial serial robot by a worker through a robot demonstrator according to GB/T12642; calculating a position conversion matrix R2M from the robot coordinate system to the measurement coordinate system in the camera using the coordinates of the n position points, where n is 5:
the computer selects one of the tested target balls as a TCP point, and the camera collects n position points Pt of the TCP point Pt (1)1(1)，Pt1(2)，...,Pt1(n) coordinate data; wherein, Pt1(1) Has the coordinates of (x)1(j),y1(j),z1(j) J ═ 1,2,. ·, n; computer reading n position points M of TCP point in robot demonstrator1(1),M1(2),...,M1(n) coordinate data; wherein M is1(1) Has the coordinates of (xm)1(j),ym1(j),zm1(j))；
Is provided with
Using the formula R2M-TPt1(n)×TM1(n)-1R2M was calculated.
(1-3) the camera sequentially measures the coordinates of each measured target ball under the measurement coordinate system, and the computer obtains the coordinates (x) of the ith target ball Pt (i)i，yi，zi) I ═ 1,2, …, Q; the computer calculates to obtain an attitude matrix Meas of the target sphere plane under the measurement coordinate system; the computer calculates to obtain an attitude matrix Meas of the target sphere plane under the measurement coordinate system:
(1-3-1) the computer reads the coordinate (x) of the first point of the target ball Pt (1) starting to move from the zero position in the measurement coordinate system1,y1,z1) Coordinate (x) of the first point of the target ball Pt (2) moving from zero2,y2,z2) Coordinate (x) of the first point of the target ball Pt (3) moving from zero3,y3,z3) Making a plane by Pt (1), Pt (2) and Pt (3), and calculating to obtain a normal vector V of the plane;
the coordinate of the set point Pt (4) is (x)4,y4,z4) (ii) a Wherein x is4＝(x1+x2+x3)/3，y4＝(y1+y2+y3)/3，z4＝(z1+z2+z3)/3；
Calculating a vector Pt2 of a projection point A1 of the Pt (2) on a plane passing through the point Pt (4) and with a normal vector V; calculating a vector Pt3 of a projection point A2 of the Pt (3) on a plane passing through the point Pt (4) and with a normal vector V;
(1-3-2) given that the vector PtX of a1 and Pt (1) is Pt2-Pt (1), the modulus | PtX | of PtX is:
the unit vector PtX of the vector PtX is:
let a2, Pt (vector PtY of 1 ═ Pt3-Pt (1), where the modulus PtY | of PtY is:
wherein PtY.x is the component of PtY in the X-axis direction, PtY.y is the component of PtY in the Y-axis direction, and PtY.z is the component of PtY in the Z-axis direction;
the unit vector PtY of the vector PtY is:
(1-3-3) assuming that vector PtZ is equal to a cross product of PtX and PtY, the unit vector Ptz of vector PtZ is:
the attitude matrix Meas of the target sphere plane in the measurement coordinate system is composed by Ptx, Pty, Ptz:
where ptz.x is PtZ component in the X-axis direction, ptz.y is PtZ component in the Y-axis direction, ptz.z is PtZ component in the Z-axis direction, | PtZ | is the mode of PtZ.
(1-4) reading an attitude matrix Mr of a robot flange plate under a robot coordinate system from the robot demonstrator by the computer;
calculating an attitude matrix mt of a robot flange plate under a measurement coordinate system: mt ═ R2M × Mr;
(1-5) assuming that a conversion matrix from a target sphere plane to a robot flange plate plane in a robot measurement coordinate system is Mb2f by the computer, and setting Mb2f as an inverse matrix of a conversion matrix MTrans from the robot flange plate plane to the target sphere plane in the measurement coordinate system;
the conversion relation from the flange plate plane of the robot to the target sphere plane under the measurement coordinate system is as follows:
meas is Mt multiplied by MTrans, and the inverse matrix of Mt is Mt;
then MTrans is mtt × Meas, MTrans is defined by the formula Mb2f-1Calculating to obtain a conversion matrix Mb2f from the plane of the target sphere to the plane of the robot flange plate under the measurement coordinate system;
the camera measures the coordinates of the target ball under the measurement coordinate system, the computer calculates the posture of the target ball plane under the measurement coordinate system by using the coordinates, and then the Mb2f is utilized to convert the posture of the target ball under the measurement coordinate system into the posture of the robot flange plane under the measurement coordinate system, so that the actual value of the robot flange posture is obtained;
the computer converts the posture of the robot flange plate read by the robot demonstrator into a camera measurement coordinate system, and a theoretical value of the posture of the robot flange plate is obtained;
at the moment, the pose of the robot flange plate and the pose obtained by calculating the coordinates under the measurement coordinate system measured by the camera are unified to the plane of the robot flange plate under the measurement coordinate system, and the pose alignment is finished.
The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents, improvements and the like that fall within the spirit and principle of the present invention are intended to be included therein.
Claims (3)
1. A posture alignment method for performance measurement of an industrial robot is characterized by comprising an industrial series robot, a robot demonstrator, a computer, a binocular vision measurement camera structure and Q measured target balls which are arranged on a flange plate of the robot through a tool, wherein Q is more than or equal to 3; the industrial serial robot is in data connection with the robot demonstrator, and the computer is in data connection with the robot demonstrator and the binocular measuring camera respectively; the method comprises the following steps:
(1-1) the binocular vision measurement camera structure comprises two cameras with the distance larger than 1.5m, so that the visual field ranges of the two cameras cover the working space of the robot to be measured, and the cameras are calibrated, so that the 3D error of the cameras is smaller than 0.05 mm;
(1-2) selecting any n position points which are not on the same straight line in the flexible working space of the industrial serial robot by a worker through a robot demonstrator; calculating a position conversion matrix R2M from the robot coordinate system to the measurement coordinate system in the camera by using the coordinates of the n position points; wherein n is more than or equal to 5;
(1-3) the camera sequentially measures the coordinates of each target ball to be measured in the measuring coordinate system, and the computer obtains the coordinates (x) of the ith target ball Pt (i)i，yi，zi) I-1, 2, …, Q; the computer calculates to obtain an attitude matrix Meas of the target sphere plane under the measurement coordinate system;
(1-4) reading a posture matrix Mr of a robot flange plate under a robot coordinate system from the robot demonstrator by the computer;
calculating an attitude matrix mt of a robot flange plate under a measurement coordinate system: mt ═ R2M × Mr;
(1-5) assuming that a conversion matrix from a target sphere plane to a robot flange plate plane in a robot measurement coordinate system is Mb2f by the computer, and setting Mb2f as an inverse matrix of a conversion matrix MTrans from the robot flange plate plane to the target sphere plane in the measurement coordinate system;
the conversion relation from the flange plate plane of the robot to the target sphere plane under the measurement coordinate system is as follows:
meas is Mt multiplied by MTrans, and the inverse matrix of Mt is Mt;
then MTrans is Mt × Meas, using the formula Mb2f MTrans-1Calculating to obtain a conversion matrix Mb2f from the plane of the target sphere to the plane of the flange plate of the robot under the measurement coordinate system;
the camera measures the coordinates of the target ball under the measurement coordinate system, the computer calculates the posture of the target ball plane under the measurement coordinate system by using the coordinates, and then the Mb2f is utilized to convert the posture of the target ball under the measurement coordinate system into the posture of the robot flange plane under the measurement coordinate system, so that the actual value of the robot flange posture is obtained;
the computer converts the posture of the robot flange plate read by the robot demonstrator into a camera measurement coordinate system, and a theoretical value of the posture of the robot flange plate is obtained;
at the moment, the pose of the robot flange plate and the pose obtained by calculating the coordinates under the measurement coordinate system measured by the camera are unified to the plane of the robot flange plate under the measurement coordinate system, and the pose alignment is finished.
2. A pose alignment method for industrial robot performance measurement according to claim 1, wherein the step (1-2) comprises the steps of:
the computer selects one of the tested target balls as a TCP point, and the camera collects n position points Pt of the TCP point Pt (1)1(1)，Pt1(2)，...,Pt1(n) coordinate data; wherein, Pt1(1) Has the coordinates of (x)1(j),y1(j),z1(j) J ═ 1,2, · n; computer reading n position points M of TCP point in robot demonstrator1(1),M1(2),...,M1(n) coordinate data; wherein M is1(1) Has the coordinates of (xm)1(j),ym1(j),zm1(j))；
Is provided with
Using the formula R2M-TPt1(n)×TM1(n)-1R2M was calculated.
3. Method for pose alignment for industrial robot performance measurement according to claim 2 characterized in that step (1-3) comprises the steps of:
(1-3-1) the computer reads the coordinate (x) of the first point of the target ball Pt (1) starting to move from the zero position in the measurement coordinate system1,y1,z1) First of the target ball Pt (2) starting from zeroCoordinates of points (x)2,y2,z2) The coordinate (x) of the first point at which the target ball Pt (3) starts to move from the zero position3,y3,z3) Making a plane by Pt (1), Pt (2) and Pt (3), and calculating to obtain a normal vector V of the plane;
let the coordinate of Pt (4) be (x)4,y4,z4(ii) a Wherein x is4＝(x1+x2+)x3/，y4＝(y1+y2+y3)/3，z4＝(z1+z2+z3)/3；
Calculating a vector Pt2 of a projection point A1 of the Pt (2) on a plane which passes through the Pt (4) and has a normal vector V; calculating a vector Pt3 of a projection point A2 of the Pt (3) on a plane which passes through the Pt (4) and has a normal vector V;
(1-3-2) the vector PtX of a1 and Pt (1) is Pt2-Pt (1), and the modulus PtX | of PtX is:
the unit vector PtX of the vector PtX is:
let a2, Pt (vector PtY of 1 ═ Pt3-Pt (1), where the modulus PtY | of PtY is:
wherein PtY.x is the component of PtY in the X-axis direction, PtY.y is the component of PtY in the Y-axis direction, and PtY.z is the component of PtY in the Z-axis direction;
the unit vector PtY of the vector PtY is:
(1-3-3) assuming vector PtZ is equal to the cross product of PtX and PtY, the unit vector Ptz of vector PtZ is:
the attitude matrix Meas of the target sphere plane in the measurement coordinate system is composed of Ptx, Pty, Ptz:
where ptz.x is PtZ component in the X-axis direction, ptz.y is PtZ component in the Y-axis direction, ptz.z is PtZ component in the Z-axis direction, | PtZ | is the mode of PtZ.
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